You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
115 lines
3.1 KiB
115 lines
3.1 KiB
// -----------------------------------------------------------------------------
|
|
// VL53L1X Sensor over I2C
|
|
// Copyright (C) 2017-2019 by Xose Pérez <xose dot perez at gmail dot com>
|
|
// -----------------------------------------------------------------------------
|
|
|
|
#if SENSOR_SUPPORT && VL53L1X_SUPPORT
|
|
|
|
#pragma once
|
|
|
|
#include <VL53L1X.h>
|
|
|
|
#include "I2CSensor.h"
|
|
|
|
class VL53L1XSensor : public I2CSensor<> {
|
|
|
|
public:
|
|
|
|
// ---------------------------------------------------------------------
|
|
// Public
|
|
// ---------------------------------------------------------------------
|
|
|
|
VL53L1XSensor() {
|
|
_count = 1;
|
|
_sensor_id = SENSOR_VL53L1X_ID;
|
|
_vl53l1x = new VL53L1X();
|
|
}
|
|
|
|
~VL53L1XSensor() {
|
|
delete _vl53l1x;
|
|
}
|
|
|
|
// ---------------------------------------------------------------------
|
|
|
|
void setDistanceMode(VL53L1X::DistanceMode mode) {
|
|
_vl53l1x->setDistanceMode(mode);
|
|
}
|
|
|
|
void setMeasurementTimingBudget(uint32_t budget_us) {
|
|
_vl53l1x->setMeasurementTimingBudget(budget_us);
|
|
}
|
|
|
|
void setInterMeasurementPeriod(unsigned int period) {
|
|
if (_inter_measurement_period == period) return;
|
|
_inter_measurement_period = period;
|
|
_dirty = true;
|
|
}
|
|
|
|
// ---------------------------------------------------------------------
|
|
// Sensor API
|
|
// ---------------------------------------------------------------------
|
|
|
|
void begin() {
|
|
if (!_dirty) {
|
|
return;
|
|
}
|
|
|
|
// I2C auto-discover
|
|
unsigned char addresses[] = {0x29};
|
|
_address = _begin_i2c(_address, sizeof(addresses), addresses);
|
|
if (_address == 0) return;
|
|
|
|
_vl53l1x->setAddress(_address);
|
|
|
|
if (!_vl53l1x->init()) {
|
|
return;
|
|
};
|
|
|
|
_vl53l1x->startContinuous(_inter_measurement_period);
|
|
|
|
_ready = true;
|
|
_dirty = false;
|
|
}
|
|
|
|
// Descriptive name of the sensor
|
|
String description() {
|
|
char buffer[21];
|
|
snprintf(buffer, sizeof(buffer), "VL53L1X @ I2C (0x%02X)", _address);
|
|
return String(buffer);
|
|
}
|
|
|
|
// Descriptive name of the slot # index
|
|
String description(unsigned char index) {
|
|
return description();
|
|
};
|
|
|
|
// Type for slot # index
|
|
unsigned char type(unsigned char index) {
|
|
if (index == 0) return MAGNITUDE_DISTANCE;
|
|
return MAGNITUDE_NONE;
|
|
}
|
|
|
|
// Pre-read hook (usually to populate registers with up-to-date data)
|
|
void pre() {
|
|
if (!_vl53l1x->dataReady()) {
|
|
return;
|
|
}
|
|
|
|
_distance = (double) _vl53l1x->read(false) / 1000.00;
|
|
}
|
|
|
|
// Current value for slot # index
|
|
double value(unsigned char index) {
|
|
if (index != 0) return 0;
|
|
return _distance;
|
|
}
|
|
|
|
protected:
|
|
|
|
VL53L1X * _vl53l1x = NULL;
|
|
unsigned int _inter_measurement_period;
|
|
double _distance = 0;
|
|
|
|
};
|
|
|
|
#endif // SENSOR_SUPPORT && VL53L1X_SUPPORT
|